Anti-disturbance Control For an Underwater Vehicle In Shallow Wavy Water

被引：1
|
作者：
Luo, Jun [1 ]
Tang, Zhijie [1 ]
Peng, Yan [1 ]
Xie, Shaorong [1 ]
Cheng, Tingting [1 ]
Li, Hengyu [1 ]
机构：
[1] Shanghai Univ, Sch Mechatron Engn & Automat, Shanghai 20072, Peoples R China
来源：
CEIS 2011 | 2011年 / 15卷
关键词：
underwater vehicle; shallow water; second order wave; control strategy;
D O I：
10.1016/j.proeng.2011.08.169
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Attitude Control for an underwater vehicle working in shallow wavy water is an important capability. In shallow water this mission most likely will be disturbed by the large surge induced hydrodynamic forces acting on the underwater vehicle. In this paper, the second order wave drift force affecting severely the underwater vehicle in shallow water are presented. On the basis of wave force analysis, three dimension disturbances caused by wavy surgy water are measured and a control system using least squares multi-order data fitting polynomial prediction and fuzzy compensation combined with PID controller is put forward. The experimental results show that the control system for disturbance of surge and wave is feasible and effective. (C) 2011 Published by Elsevier Ltd. Selection and/or peer-review under responsibility of [CEIS 2011]
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页数：7
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